diff --git a/src/lab_sim/objectives/mpc_pose_tracking_dynamic_point_cloud_avoidance_with_sphere_down_sample.xml b/src/lab_sim/objectives/mpc_pose_tracking_dynamic_point_cloud_avoidance_with_sphere_down_sample.xml
index 559fc465..4f482d8a 100644
--- a/src/lab_sim/objectives/mpc_pose_tracking_dynamic_point_cloud_avoidance_with_sphere_down_sample.xml
+++ b/src/lab_sim/objectives/mpc_pose_tracking_dynamic_point_cloud_avoidance_with_sphere_down_sample.xml
@@ -22,14 +22,14 @@
         _collapsed="false"
         link_pose="{link_pose}"
       />
-      <Decorator ID="ForEach" vector_in="{target_poses}" out="{stamped_pose}">
+      <Decorator ID="ForEach" vector_in="{target_poses}" out="{pose_stamped}">
         <Control ID="Sequence">
           <Action ID="VisualizePose" />
           <Action ID="BreakpointSubscriber" _skipIf="true" />
           <SubTree
             ID="LoadAndVisualizePointCloud"
             _collapsed="false"
-            input_pose="{stamped_pose}"
+            input_pose="{pose_stamped}"
             transform_cloud="{output_cloud}"
           />
           <SubTree
diff --git a/src/lab_sim/objectives/mpc_pose_tracking_static_point_cloud_avoidance_with_sphere_down_sample.xml b/src/lab_sim/objectives/mpc_pose_tracking_static_point_cloud_avoidance_with_sphere_down_sample.xml
index d3a78e57..aae7b96a 100644
--- a/src/lab_sim/objectives/mpc_pose_tracking_static_point_cloud_avoidance_with_sphere_down_sample.xml
+++ b/src/lab_sim/objectives/mpc_pose_tracking_static_point_cloud_avoidance_with_sphere_down_sample.xml
@@ -14,14 +14,14 @@
       <Action
         ID="CreateStampedPose"
         position_xyz="0.0;0.5;0.8"
-        stamped_pose="{stamped_pose}"
+        stamped_pose="{pose_stamped}"
         reference_frame="world"
       />
       <Action ID="VisualizePose" />
       <SubTree
         ID="LoadAndVisualizePointCloud"
         _collapsed="false"
-        input_pose="{stamped_pose}"
+        input_pose="{pose_stamped}"
         transform_cloud="{output_cloud}"
       />
       <SubTree